Systems and methods for efficiently moving a variety of objects

ABSTRACT

A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.

PRIORITY

The present application claims priority to U.S. Provisional PatentApplication Ser. No. 62/467,509 filed Mar. 6, 2017, the disclosure ofwhich is hereby incorporated by reference in its entirety.

BACKGROUND

The invention generally relates to programmable motion systems andrelates in particular to end effectors for programmable motion devices(e.g., robotic systems) for use in object processing such as objectsortation.

End effectors for robotic systems, for example, may be employed incertain applications to select and grasp an object, and then move theacquired object very quickly to a new location. End effectors that aredesigned to securely grasp an object during movement may havelimitations regarding how quickly and easily they may select and graspan object from a jumble of dissimilar objects. Conversely, end effectorsthat may quickly and easily grasp a selected object from a jumble ofdissimilar objects may have limitations regarding how securely they maygrasp an acquired object during rapid movement, particularly rapidacceleration and deceleration (both angular and linear). Notwithstandingany grasp planning that the motion system may employ, it sometimeshappens, for example, that an object is lifted from a point at which theobject ends up presenting an unbalanced load on the end effector. Thismay occur for example, if the object has an uneven weight distributionthat is not apparent from a visual inspection of the object.

Many end effectors employ vacuum pressure for acquiring and securingobjects for transport or subsequent operations by articulated arms.Other techniques for acquiring and securing objects employ electrostaticattraction, magnetic attraction, needles for penetrating objects such asfabrics, fingers that squeeze an object, hooks that engage and lift aprotruding feature of an object, and collets that expand in an openingof an object, among other techniques. Typically, end effectors aredesigned as a single tool, such as for example, a gripper, a welder, ora paint spray head, and the tool is typically designed for a specificset of needs.

There remains a need however, for an end effector in a programmablemotion system that may select and grasp any of a wide variety ofobjects, and then move the acquired object very quickly to a newlocation when the initial grasp presents an unbalanced load.

SUMMARY

In accordance with an embodiment, the invention provides a programmablemotion system including a dynamic end effector system. The dynamic endeffector system includes an end effector that is coupled via a dynamiccoupling to the programmable motion system, wherein the dynamic couplingprovides that at least a portion of the end effector may spin withrespect to an other portion of the end effector.

In accordance with another embodiment, the invention provides aprogrammable motion system including a dynamic end effector systemcomprising an end effector that includes a first portion the is coupledto the programmable motion system, and a second portion the is coupledto the first portion via a dynamic coupling such that the second portionof the end effector may spin with respect to the first portion of theend effector under a load of an object being held by the end effector.

In accordance with a further embodiment, the invention provides a methodof providing a programmable motion system including a dynamic endeffector system for grasping and moving objects. The method includes thesteps of providing a dynamic end effector including a first portion thatis coupled to the programmable motion system, and a second portion theis coupled to the first portion via a dynamic coupling; acquiring anobject; and permitting the second portion of the end effector to spinwith respect to the first portion of the end effector under a load ofthe object held by the end effector.

BRIEF DESCRIPTION OF THE DRAWINGS

The following description may be further understood with reference tothe accompanying drawings in which:

FIG. 1 shows an illustrative diagrammatic view of a programmable motionsystem in accordance with an embodiment of the present invention;

FIG. 2 shows an illustrative diagrammatic view of a dynamic end effectorsystem in accordance with an embodiment of the present invention;

FIG. 3 shows an illustrative diagrammatic view of an exploded view ofthe dynamic end effector system of FIG. 2;

FIGS. 4A-4H show illustrative diagrammatic views of various embodimentsof rotational bearing systems for use in dynamic end effector systems ofthe present invention;

FIG. 5 shows an illustrative diagrammatic view of a dynamic end effectorsystem in accordance with another embodiment of the present invention;

FIG. 6 shows an illustrative diagrammatic end view of a dynamic endeffector system in accordance with a further embodiment of the presentinvention;

FIG. 7 shows an illustrative diagrammatic side sectional view of thedynamic end effector system of FIG. 6 taken along line 7-7 thereof;

FIGS. 8A-8D show illustrative diagrammatic views of a dynamic endeffector system in accordance with an embodiment of the presentinvention at different stages of engaging, lifting and permitting a loadon the end effector to spin;

FIGS. 9A and 9B shows illustrative diagrammatic views of a dynamic endeffector system in accordance with another embodiment of the presentinvention at different stages of permitting a load on the end effectorto spin; and

FIG. 10 shows an illustrative diagrammatic view of a portion of adynamic end effector system in accordance with a further embodiment ofthe present invention.

The drawings are shown for illustrative purposes only.

DETAILED DESCRIPTION

If an object is grasped and lifted that has an uneven weightdistribution, particularly one that is not apparent from a visualinspection of the object, there is a higher chance that the object willbecome separated from the end effector while being moved. While certainsolutions may involve placing the object back down and repositioning theend effector on the object, such steps take time away from processing.Other systems may use the motion planning system (e.g., a roboticsystem) to move the end effector and object together in an position thatseeks to reduce the load on the end effector, but such systems wouldgenerally require complex sensor systems to quickly detect when a loadis imbalanced, as well as when the load becomes balanced.

In accordance with various embodiments, the invention provides aprogrammable motion system that includes a dynamic end effector system.The dynamic end effector system includes an end effector that is coupledvia a dynamic coupling to the programmable motion system, wherein thedynamic coupling provides that the end effector may rotate freely withrespect to the programmable motion system. The end effector may, forexample, spin with respect to the programmable motion system under aload of an object being held by the end effector, and without the aid ofany active motor with respect to the programmable motion system.

FIG. 1 for example, shows a programmable motion system 10 in accordancewith an embodiment of the present invention that includes a roboticsystem having a base 12, an articulated arm portion 14, and a dynamicend effector system 11 that includes an attached end effector 18. Asfurther shown in FIG. 2, the dynamic end effector system 11 may attachto the articulated arm 14 of the programmable motion device 10 by meansof an attachment mechanism 20 such as threads, spring retainer clasps,or spring loaded engagement members such as ball-in-groove arrangements.In accordance with various embodiments of the invention, the dynamic endeffector system includes a rotational bearing system that rotationallyjoins a first portion 22 (which remains fixed with respect to theattachment mechanism 20 attached to the articulated arm), and a secondportion 16 that is permitted to rotate with respect to the first portion22.

In particular, the second portion 16 of the dynamic end effector system11 may rotate as shown at A, and may, in certain embodiments, rotatefreely with respect to the first portion 22 of the dynamic end effectorsystem, even if the first portion 22 of the dynamic end effector systemis rotated in an opposite direction as shown at B. As the second portion16 of the dynamic end effector system rotates, so too does the endeffector 18 that is coupled to the lower portion of the dynamic endeffector system via a shaft 24 that may, for example provide a vacuumsource to the end effector 18.

With reference to FIG. 3, the first portion 22 and second portion 16 ofthe end effector system 11 may be joined together by a rotationalbearing system 28 that may, for example, be include any of a radial deepgroove ball bearing, a four contact point ball bearing, a pair oftapered roller bearings, a cylindrical roller bearing, or solid bushingsetc. The rotational bearing system 28 may include bearings 30, and isattached at its interior 27, for example, to a post 26 on the firstportion 22 such that an interior portion 32 of the lower portion of thedynamic end effector system 16 may attach to an outer portion 29 of therotational bearing system 28. The portion 16 of the end effector mayrotate with respect to the portion 22 of the end effector freely andcontinuously, or in certain embodiments discussed below, may includelinear or non-linear damping.

With reference to FIGS. 4A-4H, the rotational bearing system 28 may invarious embodiments take many forms. For example and with reference toFIG. 4A, the system may be provided by a solid bushing 34 around a shaft35. The suction cup of the end effector would be fixed to the outside ofthe bushing, and the rotating suction cup would be connected in the sameplace as the shaft in the illustration. Such couplings are relativelyinexpensive, but have higher friction and loser fits than other types ofbearings. Such solid bushings also wear more quickly than aroller-element bearing. With the minimal loads provided in embodimentsof the invention however, such a bearing may last a sufficient amount oftime for most systems of the invention.

With reference to FIG. 4B, the system may be provided by a deep grooveradial bearing that includes ball bearings 36 within grooves 37. Thesuction tube of an end effector would be fixed to the outside of thebearings, and the rotating suction cup would be connected to the insideof the bearing. Such a deep radial groove bearing is efficient andsimple in design, but is not generally specified for axial loads (axialalong the shaft axis, as would be applied by a load on a suction cup)),but a such a bearing of sufficient internal diameter (about 1.5 inches)to clear the airflow, that a sufficiently high maximum load may besufficient even in the non-ideal axial loading arrangement. Withreference to FIG. 4C, the system may be provided by four contact pointbearings that include a ball bearing 38 within point contact surfaces39. The suction tube would be fixed to the outside of the bearing andthe rotating suction cup would be connected to the inside of thebearing. Although such a bearing may be relatively expensive, it isspecifically designed for a combination of radial and axial loads.

With reference to FIG. 4D, the system may be provided by a cylinderbearing 40 about a shaft 41, wherein the cylinder bearing 40 includes acylinder roller 42. With reference to FIG. 4E, the system may beprovided by a cylindrical bearing including a cylindrical roller 42′about the shaft 41. This cylindrical bearing in thrust (axial) plusradial configuration provides a different configuration of a cylindricalbearing that may be necessary to handle loads along the axial and radialdirections, since the cylinders are free to slide (rather than roll)along their own axis. This combination of bearings may be necessary tohandle both radial loads and axial loads in various embodiments. Thesuction tube would be fixed to the plate shown at 43, and the rotatingsuction cup would be connected in the same place as the shaft in FIG.4E.

With reference to FIGS. 4F and 4G, the system may be provided by atapered roller bearing pair 44 about a shaft 41. The tapered rollerbearing pair may accept combined radial loads and trust loads in aspecific direction. Thus, in order to fully constrain the output, a pairof these bearings is needed to handle loads in all possible directions.The suction tube would be fixed to the plate shown at 45, and therotating suction cup would be connected in the same place as the shaftas shown in FIG. 4G.

With reference to FIG. 4H, the system may be provided by a bearingstructure 47 about a shaft 41, wherein the bearing structure includes asuction cup 48, wherein the bearing structure 47 is coupled to a motor49 via a drive 46 and a belt. The motor 49 is connected to the movingside of a suction cup by the drive belt, and may be used to provide adamping force to the rotational movement.

With reference to FIG. 5, the rotational bearing system in accordancewith an embodiment, may include a cylindrical bearing system 50 thatincludes cylindrical bearings 52 and may attached at an inner ringopening 54 to the post 26 of the first portion 22 of the end effectorsystem, which attaches to the programmable motion device by theattachment mechanism 20. Again, and similar to the embodiment of FIG. 3,the cylindrical bearing 50 may be provided therefore such that the innerring opening 54 is connected the rotary bearing system 20, while anouter portion 56 is coupled to the interior portion 32 of the secondportion 16 of the dynamic end effector system 11.

FIGS. 6 and 7 show an end view and a side sectional view respectively ofa dynamic end effector system in accordance with a further embodiment ofthe present invention. The dynamic end effector system 60 includes andend effector bellows 62 having an opening 64 through which vacuum isprovided to engage an object. The dynamic end effector system 60 mayalso include a perception unit in certain embodiments, such as a cameraor a scanner for inspecting input areas as well as a grasped object. Asfurther shown in FIG. 7, the dynamic end effector system also includes alower portion 66 the is coupled to an upper portion 68 (that inconnected to a programmable motion device) via rotational bearing 70.The rotational bearing 70 permits the lower portion 66 to rotate freelywith respect to the upper portion 68 as discussed above.

During use, the end effector portion of the dynamic end effector systemmay be permitted to spin so as to balance a load. For example, FIG. 8A,for example shows an dynamic end effector system 80 of any of the abovedisclosed embodiments approaching an object 82 such that an end effector84 (e.g., a vacuum end effector) engages the object (as shown in FIG.8B). As shown in FIG. 8C, when the object is initially lifted (e.g., atan angle as shown), the object 82 and the end effector 84 freely rotateas shown at C in FIG. 8D. In this way, the load on the object becomesless imbalanced by not having as much of the weight (or center of mass)above the end effector 84.

Similarly, FIGS. 9A and 9B show an dynamic end effector system 90 of anyof the above disclosed embodiments approaching an object 92 such that anend effector 94 (e.g., a pair of grippers end effector) engages theobject. As shown in FIG. 9A, when the object is initially lifted (e.g.,at an angle as shown), the object 92 and the end effector 94 freelyrotate as shown at D in FIG. 9B. In this way, the load on the objectbecomes less imbalanced by not having as much of the weight (or centerof mass) above the end effector 94.

A system in accordance with a further embodiment of the invention mayprovide the dynamic rotation discussed above, and may also include adamping source 100 of a damping force to inhibit the end of the endeffector from rotating without any constraint. For example, the systemmay include a portion of a shaft 102 that includes a magnetic core thatis surrounded in part by wound coils 104. As the shaft is rotated, thecoils generate electricity, and the rotational feedback force providedby the system 100 will effectively non-linearly dampen the rotationalmovement of the shaft 102. In further embodiments, linear damping may beprovided. Further, if desired, a controller 106 may be coupled to thecoils so that they may be driven, for example, to return the shaft to adesired position after movement. Additionally, a position sensor 108 maybe employed so that the system may monitor the position of the shaft atall times.

Those skilled in the art will appreciate that numerous modification andvariations may be made to the above disclosed embodiments withoutdeparting from the spirit and scope of the present invention.

What is claimed is:
 1. A programmable motion system including a dynamicend effector system, said dynamic end effector system including an endeffector that is coupled via a dynamic coupling to the programmablemotion system, wherein the dynamic coupling provides that at least aportion of the end effector may spin with respect to an other portion ofthe end effector.
 2. The programmable motion system as claimed in claim1, wherein said dynamic coupling includes a rotational bearing.
 3. Theprogrammable motion system as claimed in claim 1, wherein said dynamiccoupling includes any of a radial deep groove ball bearing, a fourcontact point ball bearing, a pair of tapered roller bearings, acylindrical roller bearing, or solid bushings.
 4. The programmablemotion system as claimed in claim 1, wherein said end effector includesa flexible bellows.
 5. The programmable motion system as claimed inclaim 1, wherein said end effector includes a vacuum source.
 6. Theprogrammable motion system as claimed in claim 1, wherein said endeffector includes a pair of opposing grippers.
 7. The programmablemotion system as claimed in claim 1, wherein the dynamic couplingprovides that the at least a portion of the end effector may spin freelywith respect to the other portion of the end effector.
 8. Theprogrammable motion system as claimed in claim 1, wherein said dynamiccoupling includes a damping source for providing a damping forceinhibiting rotation of the at least a portion of the end effector withrespect to the other portion of the end effector.
 9. The programmablemotion system as claimed in claim 8, wherein damping source furtherprovides that the rotational position of the at least a portion of theend effector may be actively controlled with respect to the otherportion of the end effector
 10. The programmable motion system asclaimed in claim 8, wherein system further includes a position detectionsystem for monitoring the rotational position of the at least a portionof the end effector with respect to the other portion of the endeffector.
 11. A programmable motion system including a dynamic endeffector system comprising an end effector that includes a first portionthe is coupled to the programmable motion system, and a second portionthe is coupled to the first portion via a dynamic coupling such that thesecond portion of the end effector may spin with respect to the firstportion of the end effector under a load of an object being held by theend effector.
 12. The programmable motion system as claimed in claim 11,wherein said dynamic coupling includes a rotational bearing.
 13. Theprogrammable motion system as claimed in claim 11, wherein said dynamiccoupling includes any of a radial deep groove ball bearing, a fourcontact point ball bearing, a pair of tapered roller bearings, acylindrical roller bearing, or solid bushings.
 14. The programmablemotion system as claimed in claim 11, wherein the dynamic couplingprovides that the second portion of the end effector may spin freelywithout restriction with respect to the first portion of the endeffector.
 15. The programmable motion system as claimed in claim 11,wherein said dynamic coupling includes a damping source for providing adamping force inhibiting rotation of the at least a portion of the endeffector with respect to the other portion of the end effector.
 16. Theprogrammable motion system as claimed in claim 15, wherein dampingsource further provides that the rotational position of the at least aportion of the end effector may be actively controlled with respect tothe other portion of the end effector
 17. The programmable motion systemas claimed in claim 15, wherein system further includes a positiondetection system for monitoring the rotational position of the at leasta portion of the end effector with respect to the other portion of theend effector.
 18. A method of providing a programmable motion systemincluding a dynamic end effector system for grasping and moving objects,said method comprising the steps of providing a dynamic end effectorincluding a first portion that is coupled to the programmable motionsystem, and a second portion the is coupled to the first portion via adynamic coupling; acquiring an object; and permitting the second portionof the end effector to spin with respect to the first portion of the endeffector under a load of the object held by the end effector.
 19. Themethod as claimed in claim 18, wherein said dynamic coupling includes arotational bearing.
 20. The method as claimed in claim 18, wherein saiddynamic coupling includes any of a radial deep groove ball bearing, afour contact point ball bearing, a pair of tapered roller bearings, acylindrical roller bearing, or solid bushings.
 21. The method as claimedin claim 18, wherein the dynamic coupling provides that the secondportion of the end effector may spin freely and continuously withoutrestriction with respect to the first portion of the end effector. 22.The method as claimed in claim 18, wherein said dynamic couplingincludes a damping source for providing a damping force inhibitingrotation of the at least a portion of the end effector with respect tothe other portion of the end effector.
 23. The method as claimed inclaim 18, wherein the method further includes the step of activelycontrolling the rotational position of the first portion of the endeffector with respect to the second portion of the end effector.